Load the URDF to the resource_manager before parsing it to CM

[saikishor]

These changes are needed after the merging of https://github.com/ros-controls/ros2_control/pull/1271 and https://github.com/ros-controls/ros2_control/pull/1272. It seems like the gazebo_ros2_control doesn't load the URDF into the resource manager, and this is causing the CM services not to start.

However, loading the URDF with the load_urdf method will probably fail, because this method originally loads and initializes the hardware interfaces and this step might probably fail. For this reason, I'm catching the exception here, but the overall behaviour will work.

If approved, this will need backport to Iron and Humble

Needs: https://github.com/ros-controls/ros2_control/pull/1301 Fixes: https://github.com/ros-controls/ros2_control/issues/1299

[saikishor]

@christophfroehlich ~If this PR: https://github.com/ros-controls/ros2_control/pull/1301 gets merged. We won't be needing this PR~ This PR needs: https://github.com/ros-controls/ros2_control/pull/1301 to be merged

[ahcorde]

CI is not passing because of the new API in ros2_control. @bmagyar when do you have plant to do a new release?

[saikishor]

@ahcorde Bence tagged and released the required changes in the distros

[ahcorde]

With testing package CI is passing, merging it

[ahcorde]

https://github.com/Mergifyio backport humble iron

[mergify[bot]]

backport humble iron

✅ Backports have been created

* [#266 Load the URDF to the resource_manager before parsing it to CM (backport #262)](https://github.com/ros-controls/gazebo_ros2_control/pull/266) has been created for branch `humble` * [#267 Load the URDF to the resource_manager before parsing it to CM (backport #262)](https://github.com/ros-controls/gazebo_ros2_control/pull/267) has been created for branch `iron`